OpenRaiser/Intern-Atlas huggingface dataset:
Seeing Through the Noisy Dark: Towards Real-world Low-Light Image Enhancement and Denoising
Venue: arXiv cs.CV 2022
Year: 2022

Low-light image enhancement (LLIE) aims at improving the illumination and visibility of dark images with lighting noise. To handle the real-world low-light images often with heavy and complex noise, some efforts have been made for joint LLIE and denoising, which however only achieve inferior restoration performance. We attribute it to two challenges: 1) in real-world low-light images, noise is somewhat covered by low-lighting and the left noise after denoising would be inevitably amplified during enhancement; 2) conversion of raw data to sRGB would cause information loss and also more noise, and hence prior LLIE methods trained on raw data are unsuitable for more common sRGB images. In this work, we propose a novel Low-light Enhancement & Denoising Network for real-world low-light images (RLED-Net) in the sRGB color space. In RLED-Net, we apply a plug-and-play differentiable Latent Subspace Reconstruction Block (LSRB) to embed the real-world images into low-rank subspaces to suppress the noise and rectify the errors, such that the impact of noise during enhancement can be effectively shrunk. We then present an efficient Crossed-channel & Shift-window Transformer (CST) layer with two branches to calculate the window and channel attentions to resist the degradation (e.g., speckle noise and blur) caused by the noise in input images. Based on the CST layers, we further present a U-structure network CSTNet as backbone for deep feature recovery, and construct a feature refine block to refine the final features. Extensive experiments on both real noisy images and public image databases well verify the effectiveness of the proposed RLED-Net for RLLIE and denoising simultaneously.
Risk-graded Safety for Handling Medical Queries in Conversational AI
Venue: arXiv cs.CL 2022
Year: 2022

Conversational AI systems can engage in unsafe behaviour when handling users' medical queries that can have severe consequences and could even lead to deaths. Systems therefore need to be capable of both recognising the seriousness of medical inputs and producing responses with appropriate levels of risk. We create a corpus of human written English language medical queries and the responses of different types of systems. We label these with both crowdsourced and expert annotations. While individual crowdworkers may be unreliable at grading the seriousness of the prompts, their aggregated labels tend to agree with professional opinion to a greater extent on identifying the medical queries and recognising the risk types posed by the responses. Results of classification experiments suggest that, while these tasks can be automated, caution should be exercised, as errors can potentially be very serious.
FLCert: Provably Secure Federated Learning against Poisoning Attacks
Venue: arXiv cs.CR 2022
Year: 2022

Due to its distributed nature, federated learning is vulnerable to poisoning attacks, in which malicious clients poison the training process via manipulating their local training data and/or local model updates sent to the cloud server, such that the poisoned global model misclassifies many indiscriminate test inputs or attacker-chosen ones. Existing defenses mainly leverage Byzantine-robust federated learning methods or detect malicious clients. However, these defenses do not have provable security guarantees against poisoning attacks and may be vulnerable to more advanced attacks. In this work, we aim to bridge the gap by proposing FLCert, an ensemble federated learning framework, that is provably secure against poisoning attacks with a bounded number of malicious clients. Our key idea is to divide the clients into groups, learn a global model for each group of clients using any existing federated learning method, and take a majority vote among the global models to classify a test input. Specifically, we consider two methods to group the clients and propose two variants of FLCert correspondingly, i.e., FLCert-P that randomly samples clients in each group, and FLCert-D that divides clients to disjoint groups deterministically. Our extensive experiments on multiple datasets show that the label predicted by our FLCert for a test input is provably unaffected by a bounded number of malicious clients, no matter what poisoning attacks they use.
Composition of Differential Privacy & Privacy Amplification by Subsampling
Venue: arXiv cs.CR 2022
Year: 2022

This chapter is meant to be part of the book "Differential Privacy for Artificial Intelligence Applications." We give an introduction to the most important property of differential privacy -- composition: running multiple independent analyses on the data of a set of people will still be differentially private as long as each of the analyses is private on its own -- as well as the related topic of privacy amplification by subsampling. This chapter introduces the basic concepts and gives proofs of the key results needed to apply these tools in practice.
Throwing Objects into A Moving Basket While Avoiding Obstacles
Venue: arXiv cs.RO 2022
Year: 2022

The capabilities of a robot will be increased significantly by exploiting throwing behavior. In particular, throwing will enable robots to rapidly place the object into the target basket, located outside its feasible kinematic space, without traveling to the desired location. In previous approaches, the robot often learned a parameterized throwing kernel through analytical approaches, imitation learning, or hand-coding. There are many situations in which such approaches do not work/generalize well due to various object shapes, heterogeneous mass distribution, and also obstacles that might be presented in the environment. It is obvious that a method is needed to modulate the throwing kernel through its meta parameters. In this paper, we tackle object throwing problem through a deep reinforcement learning approach that enables robots to precisely throw objects into moving baskets while there are obstacles obstructing the path. To the best of our knowledge, we are the first group that addresses throwing objects with obstacle avoidance. Such a throwing skill not only increases the physical reachability of a robot arm but also improves the execution time. In particular, the robot detects the pose of the target object, basket, and obstacle at each time step, predicts the proper grasp configuration for the target object, and then infers appropriate parameters to throw the object into the basket. Due to safety constraints, we develop a simulation environment in Gazebo to train the robot and then use the learned policy in real-robot directly. To assess the performers of the proposed approach, we perform extensive sets of experiments in both simulation and real robots in three scenarios. Experimental results showed that the robot could precisely throw a target object into the basket outside its kinematic range and generalize well to new locations and objects without colliding with obstacles.
SAGDA: Achieving $\mathcal{O}(ε^{-2})$ Communication Complexity in Federated Min-Max Learning
Venue: arXiv cs.LG 2022
Year: 2022

To lower the communication complexity of federated min-max learning, a natural approach is to utilize the idea of infrequent communications (through multiple local updates) same as in conventional federated learning. However, due to the more complicated inter-outer problem structure in federated min-max learning, theoretical understandings of communication complexity for federated min-max learning with infrequent communications remain very limited in the literature. This is particularly true for settings with non-i.i.d. datasets and partial client participation. To address this challenge, in this paper, we propose a new algorithmic framework called stochastic sampling averaging gradient descent ascent (SAGDA), which i) assembles stochastic gradient estimators from randomly sampled clients as control variates and ii) leverages two learning rates on both server and client sides. We show that SAGDA achieves a linear speedup in terms of both the number of clients and local update steps, which yields an $\mathcal{O}(ε^{-2})$ communication complexity that is orders of magnitude lower than the state of the art. Interestingly, by noting that the standard federated stochastic gradient descent ascent (FSGDA) is in fact a control-variate-free special version of SAGDA, we immediately arrive at an $\mathcal{O}(ε^{-2})$ communication complexity result for FSGDA. Therefore, through the lens of SAGDA, we also advance the current understanding on communication complexity of the standard FSGDA method for federated min-max learning.
The boundaries of meaning: a case study in neural machine translation
Venue: arXiv cs.CL 2022
Year: 2022

The success of deep learning in natural language processing raises intriguing questions about the nature of linguistic meaning and ways in which it can be processed by natural and artificial systems. One such question has to do with subword segmentation algorithms widely employed in language modeling, machine translation, and other tasks since 2016. These algorithms often cut words into semantically opaque pieces, such as 'period', 'on', 't', and 'ist' in 'period|on|t|ist'. The system then represents the resulting segments in a dense vector space, which is expected to model grammatical relations among them. This representation may in turn be used to map 'period|on|t|ist' (English) to 'par|od|ont|iste' (French). Thus, instead of being modeled at the lexical level, translation is reformulated more generally as the task of learning the best bilingual mapping between the sequences of subword segments of two languages; and sometimes even between pure character sequences: 'p|e|r|i|o|d|o|n|t|i|s|t' $\rightarrow$ 'p|a|r|o|d|o|n|t|i|s|t|e'. Such subword segmentations and alignments are at work in highly efficient end-to-end machine translation systems, despite their allegedly opaque nature. The computational value of such processes is unquestionable. But do they have any linguistic or philosophical plausibility? I attempt to cast light on this question by reviewing the relevant details of the subword segmentation algorithms and by relating them to important philosophical and linguistic debates, in the spirit of making artificial intelligence more transparent and explainable.
Optimization for Robustness Evaluation beyond $\ell_p$ Metrics
Venue: arXiv cs.LG 2022
Year: 2022

Empirical evaluation of deep learning models against adversarial attacks entails solving nontrivial constrained optimization problems. Popular algorithms for solving these constrained problems rely on projected gradient descent (PGD) and require careful tuning of multiple hyperparameters. Moreover, PGD can only handle $\ell_1$, $\ell_2$, and $\ell_\infty$ attack models due to the use of analytical projectors. In this paper, we introduce a novel algorithmic framework that blends a general-purpose constrained-optimization solver PyGRANSO, With Constraint-Folding (PWCF), to add reliability and generality to robustness evaluation. PWCF 1) finds good-quality solutions without the need of delicate hyperparameter tuning, and 2) can handle general attack models, e.g., general $\ell_p$ ($p \geq 0$) and perceptual attacks, which are inaccessible to PGD-based algorithms.
From 2G to 4G Mobile Network: Architecture and Key Performance Indicators
Venue: arXiv cs.NI 2022
Year: 2022

The second-generation (2G) mobile systems were developed in response to the growing demand for a system that met mobile communication demands while also providing greater interoperability with other systems. International organizations were crucial in the development of a system that would offer better services, be more transparent, and be more interoperable with other networks. The aim of having a single set of standards for networks worldwide was sadly not realized by the 2G network standards. The third generation (3G) was born. It was called the universal terrestrial mobile system (UMTS), which is European telecommunications standards institute (ETSI) driven. IMT-2000 is the international telecommunication union-telecommunication standardization sector (ITU-T) name for the 3G network. Wide-band code division multiple access (WCDMA) is the air interface technology for the UMTS. This platform offers many services that are based on the Internet, along with video calling, imaging, etc. Further advancements to mobile network technology led to long term evolution (LTE), a technology referred to as 4G. The primary goal of LTE was to improve the speed and capacity of mobile networks while lowering latency. As we move to an ALL-IP system, mobile networks' design becomes much simpler. LTE uses orthogonal frequency division multiplexing (OFDM) in its air interface. This paper details all mentioned mobile generations, as well as all the differences between them in terms of hardware and software architectures.
FRIDA: A Collaborative Robot Painter with a Differentiable, Real2Sim2Real Planning Environment
Venue: arXiv cs.RO 2022
Year: 2022

Painting is an artistic process of rendering visual content that achieves the high-level communication goals of an artist that may change dynamically throughout the creative process. In this paper, we present a Framework and Robotics Initiative for Developing Arts (FRIDA) that enables humans to produce paintings on canvases by collaborating with a painter robot using simple inputs such as language descriptions or images. FRIDA introduces several technical innovations for computationally modeling a creative painting process. First, we develop a fully differentiable simulation environment for painting, adopting the idea of real to simulation to real (real2sim2real). We show that our proposed simulated painting environment is higher fidelity to reality than existing simulation environments used for robot painting. Second, to model the evolving dynamics of a creative process, we develop a planning approach that can continuously optimize the painting plan based on the evolving canvas with respect to the high-level goals. In contrast to existing approaches where the content generation process and action planning are performed independently and sequentially, FRIDA adapts to the stochastic nature of using paint and a brush by continually re-planning and re-assessing its semantic goals based on its visual perception of the painting progress. We describe the details on the technical approach as well as the system integration.
SpeechCLIP: Integrating Speech with Pre-Trained Vision and Language Model
Venue: arXiv cs.CL 2022
Year: 2022

Data-driven speech processing models usually perform well with a large amount of text supervision, but collecting transcribed speech data is costly. Therefore, we propose SpeechCLIP, a novel framework bridging speech and text through images to enhance speech models without transcriptions. We leverage state-of-the-art pre-trained HuBERT and CLIP, aligning them via paired images and spoken captions with minimal fine-tuning. SpeechCLIP outperforms prior state-of-the-art on image-speech retrieval and performs zero-shot speech-text retrieval without direct supervision from transcriptions. Moreover, SpeechCLIP can directly retrieve semantically related keywords from speech.
Efficient Meta-Learning for Continual Learning with Taylor Expansion Approximation
Venue: arXiv cs.LG 2022
Year: 2022

Continual learning aims to alleviate catastrophic forgetting when handling consecutive tasks under non-stationary distributions. Gradient-based meta-learning algorithms have shown the capability to implicitly solve the transfer-interference trade-off problem between different examples. However, they still suffer from the catastrophic forgetting problem in the setting of continual learning, since the past data of previous tasks are no longer available. In this work, we propose a novel efficient meta-learning algorithm for solving the online continual learning problem, where the regularization terms and learning rates are adapted to the Taylor approximation of the parameter's importance to mitigate forgetting. The proposed method expresses the gradient of the meta-loss in closed-form and thus avoid computing second-order derivative which is computationally inhibitable. We also use Proximal Gradient Descent to further improve computational efficiency and accuracy. Experiments on diverse benchmarks show that our method achieves better or on-par performance and much higher efficiency compared to the state-of-the-art approaches.
WorldGen: A Large Scale Generative Simulator
Venue: arXiv cs.CV 2022
Year: 2022

In the era of deep learning, data is the critical determining factor in the performance of neural network models. Generating large datasets suffers from various difficulties such as scalability, cost efficiency and photorealism. To avoid expensive and strenuous dataset collection and annotations, researchers have inclined towards computer-generated datasets. Although, a lack of photorealism and a limited amount of computer-aided data, has bounded the accuracy of network predictions. To this end, we present WorldGen -- an open source framework to autonomously generate countless structured and unstructured 3D photorealistic scenes such as city view, object collection, and object fragmentation along with its rich ground truth annotation data. WorldGen being a generative model gives the user full access and control to features such as texture, object structure, motion, camera and lens properties for better generalizability by diminishing the data bias in the network. We demonstrate the effectiveness of WorldGen by presenting an evaluation on deep optical flow. We hope such a tool can open doors for future research in a myriad of domains related to robotics and computer vision by reducing manual labor and the cost of acquiring rich and high-quality data.
Efficient acoustic feature transformation in mismatched environments using a Guided-GAN
Venue: arXiv cs.SD 2022
Year: 2022

We propose a new framework to improve automatic speech recognition (ASR) systems in resource-scarce environments using a generative adversarial network (GAN) operating on acoustic input features. The GAN is used to enhance the features of mismatched data prior to decoding, or can optionally be used to fine-tune the acoustic model. We achieve improvements that are comparable to multi-style training (MTR), but at a lower computational cost. With less than one hour of data, an ASR system trained on good quality data, and evaluated on mismatched audio is improved by between 11.5% and 19.7% relative word error rate (WER). Experiments demonstrate that the framework can be very useful in under-resourced environments where training data and computational resources are limited. The GAN does not require parallel training data, because it utilises a baseline acoustic model to provide an additional loss term that guides the generator to create acoustic features that are better classified by the baseline.
Offline Reinforcement Learning with Differentiable Function Approximation is Provably Efficient
Venue: arXiv cs.LG 2022
Year: 2022

Offline reinforcement learning, which aims at optimizing sequential decision-making strategies with historical data, has been extensively applied in real-life applications. State-Of-The-Art algorithms usually leverage powerful function approximators (e.g. neural networks) to alleviate the sample complexity hurdle for better empirical performances. Despite the successes, a more systematic understanding of the statistical complexity for function approximation remains lacking. Towards bridging the gap, we take a step by considering offline reinforcement learning with differentiable function class approximation (DFA). This function class naturally incorporates a wide range of models with nonlinear/nonconvex structures. Most importantly, we show offline RL with differentiable function approximation is provably efficient by analyzing the pessimistic fitted Q-learning (PFQL) algorithm, and our results provide the theoretical basis for understanding a variety of practical heuristics that rely on Fitted Q-Iteration style design. In addition, we further improve our guarantee with a tighter instance-dependent characterization. We hope our work could draw interest in studying reinforcement learning with differentiable function approximation beyond the scope of current research.
Lexical semantics enhanced neural word embeddings
Venue: arXiv cs.CL 2022
Year: 2022

Current breakthroughs in natural language processing have benefited dramatically from neural language models, through which distributional semantics can leverage neural data representations to facilitate downstream applications. Since neural embeddings use context prediction on word co-occurrences to yield dense vectors, they are inevitably prone to capture more semantic association than semantic similarity. To improve vector space models in deriving semantic similarity, we post-process neural word embeddings through deep metric learning, through which we can inject lexical-semantic relations, including syn/antonymy and hypo/hypernymy, into a distributional space. We introduce hierarchy-fitting, a novel semantic specialization approach to modelling semantic similarity nuances inherently stored in the IS-A hierarchies. Hierarchy-fitting attains state-of-the-art results on the common- and rare-word benchmark datasets for deriving semantic similarity from neural word embeddings. It also incorporates an asymmetric distance function to specialize hypernymy's directionality explicitly, through which it significantly improves vanilla embeddings in multiple evaluation tasks of detecting hypernymy and directionality without negative impacts on semantic similarity judgement. The results demonstrate the efficacy of hierarchy-fitting in specializing neural embeddings with semantic relations in late fusion, potentially expanding its applicability to aggregating heterogeneous data and various knowledge resources for learning multimodal semantic spaces.
CERBERUS: Simple and Effective All-In-One Automotive Perception Model with Multi Task Learning
Venue: arXiv cs.CV 2022
Year: 2022

Perceiving the surrounding environment is essential for enabling autonomous or assisted driving functionalities. Common tasks in this domain include detecting road users, as well as determining lane boundaries and classifying driving conditions. Over the last few years, a large variety of powerful Deep Learning models have been proposed to address individual tasks of camera-based automotive perception with astonishing performances. However, the limited capabilities of in-vehicle embedded computing platforms cannot cope with the computational effort required to run a heavy model for each individual task. In this work, we present CERBERUS (CEnteR Based End-to-end peRception Using a Single model), a lightweight model that leverages a multitask-learning approach to enable the execution of multiple perception tasks at the cost of a single inference. The code will be made publicly available at https://github.com/cscribano/CERBERUS
Reflections on existential types
Venue: arXiv cs.PL 2022
Year: 2022

Existential types are reconstructed in terms of small reflective subuniverses and dependent sums. The folklore decomposition detailed here gives rise to a particularly simple account of first-class modules as a mode of use of traditional second-class modules in connection with the modal operator induced by a reflective subuniverse, leading to a semantic justification for the rules of first-class modules in languages like OCaml and MoscowML. Additionally, we expose several constructions that give rise to semantic models of ML-style programming languages with both first-class modules and realistic computational effects, culminating in a model that accommodates higher-order first-class recursive modules and higher-order store.